ADVANCING COTS UAV CAPABILITY TO PROVIDE VISION-BASED SA/ISR DATA
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Authors
Teo, Wei Shun
Subjects
unmanned aerial system
UAV
computer vision
object detection
optical-flow
payload sensor
manifold
GPU
UAV
computer vision
object detection
optical-flow
payload sensor
manifold
GPU
Advisors
Yakimenko, Oleg A.
Date of Issue
2018-09
Date
Publisher
Monterey, CA; Naval Postgraduate School
Language
Abstract
Unmanned systems are gaining popularity in many modern-day applications, and their growth potential in unmanned technologies is infinite. These systems have created research and development opportunities for enabling autonomous behavior to reduce human workload and involvement in tedious operations. This thesis assesses autonomy-enabling technologies for conducting search-and-rescue (SA) operations and intelligence, surveillance, and reconnaissance (ISR) missions using a small unmanned system (sUAS). These technologies include an electro-optical sensor, onboard processor, and computer-vision (CV) algorithms. In a previous master’s thesis by Wee Kiong Ang, a commercial off-the-shelf (COTS) quadcopter sUAS was integrated with a suite of hardware and multiple-moving-target-detection software. Building upon that work, this thesis aims to advance the system’s capabilities by exploring the applicability of the aforementioned three technologies on an sUAS. Using the systems engineering approach, the baseline system deficiencies are identified first. Next, a technology enabler review is conducted to explore the relevant COTS products and paradigms. Then, through the implementation of a set of changes, the baseline system architecture is reassessed and consequently redesigned, followed by an assessment of state-of-the-art CV algorithms. After being tested in a field experiment based on SA/ISR-type mission scenarios, the developed prototype was found to be successful.
Type
Thesis
Description
Series/Report No
Department
Systems Engineering (SE)
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Distribution Statement
Approved for public release; distribution is unlimited.
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Copyright is reserved by the copyright owner.